Ben Huang
/
3pi_Line_Follow
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Fork of
3pi_Line_Follow
by 
Craig Evans
Diff: code.cpp
- Revision:
- 0:008c53db1931
- Child:
- 1:d8c15d5b8eac
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/code.cpp Tue Mar 20 16:28:07 2018 +0000
@@ -0,0 +1,32 @@
+#include "main.h"
+
+void repeat()
+{
+ float speed = 0.5;
+
+
+ robot.scan();
+
+ // in range -1 to 1, no error when line is at 0.0
+ // number is negative when the line is to the left
+ // number is positive when the line is to the right
+ float position = robot.read_line();
+
+ robot.display_data();
+
+
+
+ float step = 0.4*position;
+ // + when line to right
+ // - for line to left
+
+
+ if (position < 0.0) { // line to the left...need to turn left
+ robot.left_motor(speed+step);
+ robot.right_motor(speed);
+ } else { // line to the right...need to turn right
+ robot.left_motor(speed);
+ robot.right_motor(speed-step);
+ }
+
+}
\ No newline at end of file